A heuristic algorithm for the Capacitated Vehicle Routing Problem with Synchronized Pick-ups and Drop-offs : a case study for medications delivery and supervision in DR Congo

Dans des contextes de post-urgence tels que le vit la partie occidentale de la République Démocratique du Congo (RDC), l’un des défis cruciaux auxquels font face les hôpitaux ruraux est de maintenir un niveau de médicaments essentiels dans la pharmacie. Sans ces médicaments pour traiter les maladies graves, l’impact sur la santé de la population est significatif. Les hôpitaux encourent également des pertes financières dues à la péremption lorsque trop de médicaments sont commandés. De plus, les coûts du transport des médicaments ainsi que du superviseur sont très élevés pour les hôpitaux isolés ; les coûts du transport peuvent à eux seuls dépasser ceux des médicaments. En utilisant la province du Bandundu, RDC pour une étude de cas, notre recherche tente de déterminer la faisabilité (en termes et de la complexité du problème et des économies potentielles) d’un problème de routage synchronisé pour la livraison de médicaments et pour les visites de supervision. Nous proposons une formulation du problème de tournées de véhicules avec capacité limitée qui gère plusieurs exigences nouvelles, soit la synchronisation des activités, la préséance et deux fréquences d’activités. Nous mettons en œuvre une heuristique « cluster first, route second » avec une base de données géospatiales qui permet de résoudre le problème. Nous présentons également un outil Internet qui permet de visualiser les solutions sur des cartes. Les résultats préliminaires de notre étude suggèrent qu’une solution synchronisée pourrait offrir la possibilité aux hôpitaux ruraux d’augmenter l’accessibilité des services médicaux aux populations rurales avec une augmentation modique du coût de transport actuel.

Mobility Metric based LEACH-Mobile Protocol

Cluster based protocols like LEACH were found best suited for routing in wireless sensor networks. In mobility centric environments some improvements were suggested in the basic scheme. LEACH-Mobile is one such protocol. The basic LEACH protocol is improved in the mobile scenario by ensuring whether a sensor node is able to communicate with its cluster head. Since all the nodes, including cluster head is moving it will be better to elect a node as cluster head which is having less mobility related to its neighbours. In this paper, LEACH-Mobile protocol has been enhanced based on a mobility metric “remoteness” for cluster head election. This ensures high success rate in data transfer between the cluster head and the collector nodes even though nodes are moving. We have simulated and compared our LEACH-Mobile-Enhanced protocol with LEACHMobile. Results show that inclusion of neighbouring node information improves the routing protocol.

Mobility Metric based LEACH-Mobile Protocol

Cluster based protocols like LEACH were found best suited for routing in wireless sensor networks. In mobility centric environments some improvements were suggested in the basic scheme. LEACH-Mobile is one such protocol. The basic LEACH protocol is improved in the mobile scenario by ensuring whether a sensor node is able to communicate with its cluster head. Since all the nodes, including cluster head is moving it will be better to elect a node as cluster head which is having less mobility related to its neighbours. In this paper, LEACH-Mobile protocol has been enhanced based on a mobility metric “remoteness” for cluster head election. This ensures high success rate in data transfer between the cluster head and the collector nodes even though nodes are moving. We have simulated and compared our LEACH-Mobile-Enhanced protocol with LEACHMobile. Results show that inclusion of neighbouring node information improves the routing protocol.

Differential epipolar constraint in mobile robot egomotion estimation

The estimation of camera egomotion is a well established problem in computer vision. Many approaches have been proposed based on both the discrete and the differential epipolar constraint. The discrete case is mainly used in self-calibrated stereoscopic systems, whereas the differential case deals with a unique moving camera. The article surveys several methods for mobile robot egomotion estimation covering more than 0.5 million samples using synthetic data. Results from real data are also given

Evaluating the probability and the impact of a failure in GMPLS based networks

In this paper, we define a new scheme to develop and evaluate protection strategies for building reliable GMPLS networks. This is based on what we have called the network protection degree (NPD). The NPD consists of an a priori evaluation, the failure sensibility degree (FSD), which provides the failure probability, and an a posteriori evaluation, the failure impact degree (FID), which determines the impact on the network in case of failure, in terms of packet loss and recovery time. Having mathematical formulated these components, experimental results demonstrate the benefits of the utilization of the NPD, when used to enhance some current QoS routing algorithms in order to offer a certain degree of protection

Enhancing MPLS QoS routing algorithms by using the network protection degree paradigm

IP based networks still do not have the required degree of reliability required by new multimedia services, achieving such reliability will be crucial in the success or failure of the new Internet generation. Most of existing schemes for QoS routing do not take into consideration parameters concerning the quality of the protection, such as packet loss or restoration time. In this paper, we define a new paradigm to develop new protection strategies for building reliable MPLS networks, based on what we have called the network protection degree (NPD). This NPD consists of an a priori evaluation, the failure sensibility degree (FSD), which provides the failure probability and an a posteriori evaluation, the failure impact degree (FID), to determine the impact on the network in case of failure. Having mathematical formulated these components, we point out the most relevant components. Experimental results demonstrate the benefits of the utilization of the NPD, when used to enhance some current QoS routing algorithms to offer a certain degree of protection

Multicast algorithms evaluation using an adaptative routing in ATM networks

This paper proposes a multicast implementation based on adaptive routing with anticipated calculation. Three different cost measures for a point-to-multipoint connection: bandwidth cost, connection establishment cost and switching cost can be considered. The application of the method based on pre-evaluated routing tables makes possible the reduction of bandwidth cost and connection establishment cost individually

Constraint satisfaction techniques under uncertain conditions for fault diagnosis in nonlinear dynamic systems

The speed of fault isolation is crucial for the design and reconfiguration of fault tolerant control (FTC). In this paper the fault isolation problem is stated as a constraint satisfaction problem (CSP) and solved using constraint propagation techniques. The proposed method is based on constraint satisfaction techniques and uncertainty space refining of interval parameters. In comparison with other approaches based on adaptive observers, the major advantage of the presented method is that the isolation speed is fast even taking into account uncertainty in parameters, measurements and model errors and without the monotonicity assumption. In order to illustrate the proposed approach, a case study of a nonlinear dynamic system is presented

A proposal for the diagnosis of uncertain dynamic systems based on interval models

The performance of a model-based diagnosis system could be affected by several uncertainty sources, such as,model errors,uncertainty in measurements, and disturbances. This uncertainty can be handled by mean of interval models.The aim of this thesis is to propose a methodology for fault detection, isolation and identification based on interval models. The methodology includes some algorithms to obtain in an automatic way the symbolic expression of the residual generators enhancing the structural isolability of the faults, in order to design the fault detection tests. These algorithms are based on the structural model of the system. The stages of fault detection, isolation, and identification are stated as constraint satisfaction problems in continuous domains and solved by means of interval based consistency techniques. The qualitative fault isolation is enhanced by a reasoning in which the signs of the symptoms are derived from analytical redundancy relations or bond graph models of the system. An initial and empirical analysis regarding the differences between interval-based and statistical-based techniques is presented in this thesis. The performance and efficiency of the contributions are illustrated through several application examples, covering different levels of complexity.

Congestion probability routing in virtual path ATM network

This dissertation focuses on the problem of providing mechanisms for routing point to point and multipoint connections in ATM networks. In general the notion of multipoint connection refers to connections that involve a group of users with more than two members. The main objective of this dissertation is to contribute to design efficient routing protocols with alterative routes in fully connected VP-based ATM Networks for call establishment of point to point and multipoint VC connections. An efficient route should be computed during this connection establishment phase.

Dynamic management and restoration of virtual paths in broadband networks based on distributed software agents

La gestió de xarxes és un camp molt ampli i inclou molts aspectes diferents. Aquesta tesi doctoral està centrada en la gestió dels recursos en les xarxes de banda ampla que disposin de mecanismes per fer reserves de recursos, com per exemple Asynchronous Transfer Mode (ATM) o Multi-Protocol Label Switching (MPLS). Es poden establir xarxes lògiques utilitzant els Virtual Paths (VP) d'ATM o els Label Switched Paths (LSP) de MPLS, als que anomenem genèricament camins lògics. Els usuaris de la xarxa utilitzen doncs aquests camins lògics, que poden tenir recursos assignats, per establir les seves comunicacions. A més, els camins lògics són molt flexibles i les seves característiques es poden canviar dinàmicament. Aquest treball, se centra, en particular, en la gestió dinàmica d'aquesta xarxa lògica per tal de maximitzar-ne el rendiment i adaptar-la a les connexions ofertes. En aquest escenari, hi ha diversos mecanismes que poden afectar i modificar les característiques dels camins lògics (ample de banda, ruta, etc.). Aquests mecanismes inclouen els de balanceig de la càrrega (reassignació d'ample de banda i reencaminament) i els de restauració de fallades (ús de camins lògics de backup). Aquests dos mecanismes poden modificar la xarxa lògica i gestionar els recursos (ample de banda) dels enllaços físics. Per tant, existeix la necessitat de coordinar aquests mecanismes per evitar possibles interferències. La gestió de recursos convencional que fa ús de la xarxa lògica, recalcula periòdicament (per exemple cada hora o cada dia) tota la xarxa lògica d'una forma centralitzada. Això introdueix el problema que els reajustaments de la xarxa lògica no es realitzen en el moment en què realment hi ha problemes. D'altra banda també introdueix la necessitat de mantenir una visió centralitzada de tota la xarxa. En aquesta tesi, es proposa una arquitectura distribuïda basada en un sistema multi agent. L'objectiu principal d'aquesta arquitectura és realitzar de forma conjunta i coordinada la gestió de recursos a nivell de xarxa lògica, integrant els mecanismes de reajustament d'ample de banda amb els mecanismes de restauració preplanejada, inclosa la gestió de l'ample de banda reservada per a la restauració. Es proposa que aquesta gestió es porti a terme d'una forma contínua, no periòdica, actuant quan es detecta el problema (quan un camí lògic està congestionat, o sigui, quan està rebutjant peticions de connexió dels usuaris perquè està saturat) i d'una forma completament distribuïda, o sigui, sense mantenir una visió global de la xarxa. Així doncs, l'arquitectura proposada realitza petits rearranjaments a la xarxa lògica adaptant-la d'una forma contínua a la demanda dels usuaris. L'arquitectura proposada també té en consideració altres objectius com l'escalabilitat, la modularitat, la robustesa, la flexibilitat i la simplicitat. El sistema multi agent proposat està estructurat en dues capes d'agents: els agents de monitorització (M) i els de rendiment (P). Aquests agents estan situats en els diferents nodes de la xarxa: hi ha un agent P i diversos agents M a cada node; aquests últims subordinats als P. Per tant l'arquitectura proposada es pot veure com una jerarquia d'agents. Cada agent és responsable de monitoritzar i controlar els recursos als que està assignat. S'han realitzat diferents experiments utilitzant un simulador distribuït a nivell de connexió proposat per nosaltres mateixos. Els resultats mostren que l'arquitectura proposada és capaç de realitzar les tasques assignades de detecció de la congestió, reassignació dinàmica d'ample de banda i reencaminament d'una forma coordinada amb els mecanismes de restauració preplanejada i gestió de l'ample de banda reservat per la restauració. L'arquitectura distribuïda ofereix una escalabilitat i robustesa acceptables gràcies a la seva flexibilitat i modularitat.

Quantified real constraint solving using modal intervals with applications to control

Les restriccions reals quantificades (QRC) formen un formalisme matemàtic utilitzat per modelar un gran nombre de problemes físics dins els quals intervenen sistemes d'equacions no-lineals sobre variables reals, algunes de les quals podent ésser quantificades. Els QRCs apareixen en nombrosos contextos, com l'Enginyeria de Control o la Biologia. La resolució de QRCs és un domini de recerca molt actiu dins el qual es proposen dos enfocaments diferents: l'eliminació simbòlica de quantificadors i els mètodes aproximatius. Tot i això, la resolució de problemes de grans dimensions i del cas general, resten encara problemes oberts. Aquesta tesi proposa una nova metodologia aproximativa basada en l'Anàlisi Intervalar Modal, una teoria matemàtica que permet resoldre problemes en els quals intervenen quantificadors lògics sobre variables reals. Finalment, dues aplicacions a l'Enginyeria de Control són presentades. La primera fa referència al problema de detecció de fallades i la segona consisteix en un controlador per a un vaixell a vela.

Filter for Car Tracking Based on Acceleration and Steering Angle

The motion of a car is described using a stochastic model in which the driving processes are the steering angle and the tangential acceleration. The model incorporates exactly the kinematic constraint that the wheels do not slip sideways. Two filters based on this model have been implemented, namely the standard EKF, and a new filter (the CUF) in which the expectation and the covariance of the system state are propagated accurately. Experiments show that i) the CUF is better than the EKF at predicting future positions of the car; and ii) the filter outputs can be used to control the measurement process, leading to improved ability to recover from errors in predictive tracking.

Advances in Model-Based Traffic Vision

Model based vision allows use of prior knowledge of the shape and appearance of specific objects to be used in the interpretation of a visual scene; it provides a powerful and natural way to enforce the view consistency constraint. A model based vision system has been developed within ESPRIT VIEWS: P2152 which is able to classify and track moving objects (cars and other vehicles) in complex, cluttered traffic scenes. The fundamental basis of the method has been previously reported. This paper presents recent developments which have extended the scope of the system to include (i) multiple cameras, (ii) variable camera geometry, and (iii) articulated objects. All three enhancements have easily been accommodated within the original model-based approach

Adaptive routing in active networks

New conceptual ideas on network architectures have been proposed in the recent past. Current store-andforward routers are replaced by active intermediate systems, which are able to perform computations on transient packets, in a way that results very helpful for developing and deploying new protocols in a short time. This paper introduces a new routing algorithm, based on a congestion metric, and inspired by the behavior of ants in nature. The use of the Active Networks paradigm associated with a cooperative learning environment produces a robust, decentralized algorithm capable of adapting quickly to changing conditions.